function info = position_s_traj_info(a_value,t_acc,t_ed,period,pos_st)
%     % 返回一个1*3行向量，用于获取当前时间的pos，vel和acc
%     info = zeros(1,3);
% %     pos_final = @(a)(a*t_acc^2+t_acc*(t_ed-a*t_acc)*a-pos_ed+pos_st);
% %     a_value = fsolve(pos_final,0);
%     info(2) = position_s_traj_vel(a_value,t_acc,t_ed,t);
%     info(3) = position_s_traj_acc(a_value,t_acc,t_ed,t);
%     
%     %(a_value,t_acc,t_ed,t)
%     %info(1) = integral(@position_s_traj_vel,0,t,'ArrayValued' ,true,'a_value',a_value,'t_acc',t_acc,'t_ed',t_ed)+pos_st;
%     info(1) = integral(@(time) position_s_traj_vel(a_value,t_acc,t_ed,time),0,t)+pos_st;
%     


    %现在准备一次性生成轨迹，根据仿真小周期和t-ed来生成，之后按照steps来得到值
    steps = t_ed/period + 1;
    info = zeros(steps,3);
    info(1,1) = pos_st;
    for i = 2:1:steps
        info(i,2) = position_s_traj_vel(a_value,t_acc,t_ed,(i-1)*period);
        info(i,3) = position_s_traj_acc(a_value,t_acc,t_ed,(i-1)*period);
        
        
        info(i,1) = info(i-1,1)+info(i-1,2)*period;
%         info(i,1) = integral(@(time) position_s_traj_vel(a_value,t_acc,t_ed,time),0,t)+pos_st;
    end
end